Articulated robot

About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.

Development and control of new legged robot QUARTET III - from active walking to passive walking

Abstract: We introduce a newly developed legged robot QUARTET III. Two direct drive motors are mounted on the robot as a main actuator. Therefore, this robot can walk both actively and passively. We also propose a new control law for the robot on a slight slope. The strategy of the control scheme is as follows. At the beginning of the walking, the robot walks with actuator. Then after a while the control input gradually decrease. Finally, the robot walks passively. The effectiveness of the control law is shown through simulations and experiments.

Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot.

Abstract: This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Design and characteristic evaluation of a novel amphibious spherical robot

Abstract: This paper presents a new type of amphibious spherical robots. The robot includes four drive units. Each drive unit consists of two servo motors, a water-jet propeller, a DC motor and a wheel. The robot can constitute three movement structure ways according to the environment. When the robot enters water, it adopts water jet propulsion. According to different land conditions, there are two movement patterns to switch. One is a quadruped movement pattern which is available to climb over obstacles; the other is a driving wheel movement pattern which is used to speed up the movement of robot under the flat terrain. Characteristic evaluation experiments on land for a novel amphibious spherical robot were conducted. Underwater motions of the robot mainly rely on the four water-jet propellers, it is necessary to measure relationship between actuating force of the water-jet propeller and the duty ratio. Gambit software is employed to establish and mesh the water-jet propulsion model. Simulation analysis of the models is implemented by FLUENT software. Localization control of the robot and wireless control of the robot were conducted. Finally, experiment results indicated that the developed novel amphibious spherical robot is feasible to develop marine resources and implement marine missions.

A robot in a cage-exploring interactions between animals and robots

Abstract: Typically, the animal world has been used conceptually by roboticists as a source of inspiration for finding new approaches to efficient locomotion, perception and intelligent control [Brooks, 1991], [Hallam and Walker, 1993], [Aloimonos, 1997]. This paper explores the question of designing a robot to share a space with a simple animal. A series of experiments between a mobile robot and three chickens in a cage are described. Techniques are described to mechanically reduce chickens' anxiety towards moving machinery. A model of interaction between animals and machines is proposed. These insights are then placed into a wider context of robot design.

A dynamic single actuator vertical climbing robot

Abstract: A climbing robot mechanism is introduced, which uses dynamic movements to climb between two parallel vertical walls. This robot relies on its own internal dynamic motions to gain height, unlike previous mechanisms which are quasi- static. One benefit of dynamics is that it allows climbing with only a single actuated degree of freedom. We show with analysis, simulations and experiments that this dynamic robot is capable of climbing vertically between parallel walls. We introduce simplifications that enable us to obtain closed form approximations of the robot motion. Furthermore, this provides us with some design considerations and insights into the mechanism's ability to climb.